2
   0.997823  0.00471917  -0.0657775   0.0425643
 -0.0456076   -0.671062   -0.739998 -0.00866478
 -0.0476329    0.741387   -0.669386    0.671222
          0           0           0           1
  0.790604  -0.609049 -0.0632841 -0.0878207
 -0.459829  -0.522279   -0.71818  -0.174605
  0.404355   0.596896  -0.692974   0.886256
         0          0          0          1
